From e7efa853937fbb04b26d0d1773863e5a70acfce1 Mon Sep 17 00:00:00 2001 From: dmronga Date: Fri, 1 Mar 2024 15:38:57 +0000 Subject: [PATCH] deploy: 4a238f42d4dd5409d5d5a7c6d2b1e0568d6bbcc1 --- CartesianForceController_8hpp.html | 1 + CartesianForceController_8hpp_source.html | 139 +++++++++--------- CartesianPositionController_8hpp.html | 1 + CartesianPositionController_8hpp_source.html | 85 +++++------ CartesianRadialPotentialFields_8hpp.html | 1 + ...sianRadialPotentialFields_8hpp_source.html | 95 ++++++------ ControllerTask_8hpp_source.html | 10 +- ...rollerTransformationProxy_8hpp_source.html | 2 +- JointLimitAvoidance_8hpp.html | 1 + JointLimitAvoidance_8hpp_source.html | 97 ++++++------ JointPositionController_8hpp.html | 1 + JointPositionController_8hpp_source.html | 85 +++++------ JointTorqueController_8hpp.html | 1 + JointTorqueController_8hpp_source.html | 87 +++++------ ...b_1_1CartesianForceController-members.html | 2 +- ...ctrl__lib_1_1CartesianForceController.html | 10 +- ..._1CartesianPositionController-members.html | 2 +- ...l__lib_1_1CartesianPositionController.html | 10 +- ...artesianRadialPotentialFields-members.html | 4 +- ...lib_1_1CartesianRadialPotentialFields.html | 20 +-- classctrl__lib_1_1ControllerTask-members.html | 4 +- classctrl__lib_1_1ControllerTask.html | 20 +-- ...l__lib_1_1JointLimitAvoidance-members.html | 2 +- classctrl__lib_1_1JointLimitAvoidance.html | 10 +- ...ib_1_1JointPositionController-members.html | 2 +- ...sctrl__lib_1_1JointPositionController.html | 10 +- ..._lib_1_1JointTorqueController-members.html | 2 +- classctrl__lib_1_1JointTorqueController.html | 10 +- functions.html | 6 +- functions_func.html | 2 +- functions_vars.html | 4 +- 31 files changed, 369 insertions(+), 357 deletions(-) diff --git a/CartesianForceController_8hpp.html b/CartesianForceController_8hpp.html index d299750..fb21ed1 100644 --- a/CartesianForceController_8hpp.html +++ b/CartesianForceController_8hpp.html @@ -61,6 +61,7 @@ #include <base/samples/Wrenches.hpp>
#include <base/samples/RigidBodyState.hpp>
#include <base/samples/RigidBodyStateSE3.hpp>
+#include <wbc/controllers/CartesianForcePIDController.hpp>

Go to the source code of this file.

diff --git a/CartesianForceController_8hpp_source.html b/CartesianForceController_8hpp_source.html index 96bc864..f988cb0 100644 --- a/CartesianForceController_8hpp_source.html +++ b/CartesianForceController_8hpp_source.html @@ -68,90 +68,91 @@
7#include <base/samples/Wrenches.hpp>
8#include <base/samples/RigidBodyState.hpp>
9#include <base/samples/RigidBodyStateSE3.hpp>
-
10
-
-
11namespace ctrl_lib{
-
12
-
13class CartesianForcePIDController;
-
14
-
-
16class CartesianForceController : public CartesianForceControllerBase
-
17{
-
18 friend class CartesianForceControllerBase;
-
19
-
20public:
-
21 CartesianForceController(std::string const& name = "ctrl_lib::CartesianForceController");
-
22 CartesianForceController(std::string const& name, RTT::ExecutionEngine* engine);
-
23 ~CartesianForceController(){}
-
24 bool configureHook();
-
25 bool startHook();
-
26 void updateHook();
-
27 void errorHook();
-
28 void stopHook();
-
29 void cleanupHook();
-
30
-
31protected:
-
33 virtual bool readFeedback();
-
35 virtual bool readSetpoint();
-
37 virtual void updateController();
-
39 virtual const base::VectorXd& computeActivation(ActivationFunction& activation_function);
-
40
+
10#include <wbc/controllers/CartesianForcePIDController.hpp>
+
11
+
+
12namespace ctrl_lib{
+
13
+
14class CartesianForcePIDController;
+
15
+
+
17class CartesianForceController : public CartesianForceControllerBase
+
18{
+
19 friend class CartesianForceControllerBase;
+
20
+
21public:
+
22 CartesianForceController(std::string const& name = "ctrl_lib::CartesianForceController");
+
23 CartesianForceController(std::string const& name, RTT::ExecutionEngine* engine);
+
24 ~CartesianForceController(){}
+
25 bool configureHook();
+
26 bool startHook();
+
27 void updateHook();
+
28 void errorHook();
+
29 void stopHook();
+
30 void cleanupHook();
+
31
+
32protected:
+
34 virtual bool readFeedback();
+
36 virtual bool readSetpoint();
+
38 virtual void updateController();
+
40 virtual const base::VectorXd& computeActivation(wbc::ActivationFunction& activation_function);
41
-
-
42 bool isValid(const base::Wrench &w){
-
43 return !base::isNaN(w.force(0)) && !base::isNaN(w.force(1)) && !base::isNaN(w.force(2)) &&
-
44 !base::isNaN(w.torque(0)) && !base::isNaN(w.torque(1)) && !base::isNaN(w.torque(2));
-
45 }
+
42
+
+
43 bool isValid(const base::Wrench &w){
+
44 return !base::isNaN(w.force(0)) && !base::isNaN(w.force(1)) && !base::isNaN(w.force(2)) &&
+
45 !base::isNaN(w.torque(0)) && !base::isNaN(w.torque(1)) && !base::isNaN(w.torque(2));
+
46 }
-
46
-
-
47 const base::VectorXd wrenchToRaw(const base::samples::Wrench& wrench, base::VectorXd& raw){
-
48 raw.resize(6);
-
49 raw.segment(0,3) = wrench.force;
-
50 raw.segment(3,3) = wrench.torque;
-
51 return raw;
-
52 }
+
47
+
+
48 const base::VectorXd wrenchToRaw(const base::samples::Wrench& wrench, base::VectorXd& raw){
+
49 raw.resize(6);
+
50 raw.segment(0,3) = wrench.force;
+
51 raw.segment(3,3) = wrench.torque;
+
52 return raw;
+
53 }
-
53
-
54 base::samples::Wrench setpoint, feedback;
-
55 base::samples::Wrenches feedback_wrenches;
-
56 std::string ft_sensor_name;
-
57 base::VectorXd setpoint_raw, feedback_raw, ctrl_output_raw;
-
58 base::samples::RigidBodyStateSE3 control_output;
-
59 wbc::CartesianForcePIDController* controller;
-
60
-
61};
+
54
+
55 base::samples::Wrench setpoint, feedback;
+
56 base::samples::Wrenches feedback_wrenches;
+
57 std::string ft_sensor_name;
+
58 base::VectorXd setpoint_raw, feedback_raw, ctrl_output_raw;
+
59 base::samples::RigidBodyStateSE3 control_output;
+
60 wbc::CartesianForcePIDController* controller;
+
61
+
62};
-
62}
+
63}
-
63
-
64#endif
-
65
-
ctrl_lib::CartesianForceController
Definition CartesianForceController.hpp:17
-
ctrl_lib::CartesianForceController::computeActivation
virtual const base::VectorXd & computeActivation(ActivationFunction &activation_function)
Definition CartesianForceController.cpp:106
+
64
+
65#endif
+
66
+
ctrl_lib::CartesianForceController
Definition CartesianForceController.hpp:18
ctrl_lib::CartesianForceController::errorHook
void errorHook()
Definition CartesianForceController.cpp:47
-
ctrl_lib::CartesianForceController::setpoint_raw
base::VectorXd setpoint_raw
Definition CartesianForceController.hpp:57
-
ctrl_lib::CartesianForceController::ft_sensor_name
std::string ft_sensor_name
Definition CartesianForceController.hpp:56
+
ctrl_lib::CartesianForceController::setpoint_raw
base::VectorXd setpoint_raw
Definition CartesianForceController.hpp:58
+
ctrl_lib::CartesianForceController::ft_sensor_name
std::string ft_sensor_name
Definition CartesianForceController.hpp:57
ctrl_lib::CartesianForceController::updateController
virtual void updateController()
Definition CartesianForceController.cpp:98
ctrl_lib::CartesianForceController::stopHook
void stopHook()
Definition CartesianForceController.cpp:51
-
ctrl_lib::CartesianForceController::isValid
bool isValid(const base::Wrench &w)
Definition CartesianForceController.hpp:42
+
ctrl_lib::CartesianForceController::isValid
bool isValid(const base::Wrench &w)
Definition CartesianForceController.hpp:43
ctrl_lib::CartesianForceController::cleanupHook
void cleanupHook()
Definition CartesianForceController.cpp:55
-
ctrl_lib::CartesianForceController::feedback
base::samples::Wrench feedback
Definition CartesianForceController.hpp:54
-
ctrl_lib::CartesianForceController::feedback_wrenches
base::samples::Wrenches feedback_wrenches
Definition CartesianForceController.hpp:55
+
ctrl_lib::CartesianForceController::feedback
base::samples::Wrench feedback
Definition CartesianForceController.hpp:55
+
ctrl_lib::CartesianForceController::feedback_wrenches
base::samples::Wrenches feedback_wrenches
Definition CartesianForceController.hpp:56
ctrl_lib::CartesianForceController::readSetpoint
virtual bool readSetpoint()
Definition CartesianForceController.cpp:85
+
ctrl_lib::CartesianForceController::computeActivation
virtual const base::VectorXd & computeActivation(wbc::ActivationFunction &activation_function)
Definition CartesianForceController.cpp:106
ctrl_lib::CartesianForceController::updateHook
void updateHook()
Definition CartesianForceController.cpp:43
-
ctrl_lib::CartesianForceController::ctrl_output_raw
base::VectorXd ctrl_output_raw
Definition CartesianForceController.hpp:57
+
ctrl_lib::CartesianForceController::ctrl_output_raw
base::VectorXd ctrl_output_raw
Definition CartesianForceController.hpp:58
ctrl_lib::CartesianForceController::configureHook
bool configureHook()
Definition CartesianForceController.cpp:17
ctrl_lib::CartesianForceController::readFeedback
virtual bool readFeedback()
Definition CartesianForceController.cpp:60
-
ctrl_lib::CartesianForceController::feedback_raw
base::VectorXd feedback_raw
Definition CartesianForceController.hpp:57
-
ctrl_lib::CartesianForceController::~CartesianForceController
~CartesianForceController()
Definition CartesianForceController.hpp:23
-
ctrl_lib::CartesianForceController::wrenchToRaw
const base::VectorXd wrenchToRaw(const base::samples::Wrench &wrench, base::VectorXd &raw)
Definition CartesianForceController.hpp:47
+
ctrl_lib::CartesianForceController::feedback_raw
base::VectorXd feedback_raw
Definition CartesianForceController.hpp:58
+
ctrl_lib::CartesianForceController::~CartesianForceController
~CartesianForceController()
Definition CartesianForceController.hpp:24
+
ctrl_lib::CartesianForceController::wrenchToRaw
const base::VectorXd wrenchToRaw(const base::samples::Wrench &wrench, base::VectorXd &raw)
Definition CartesianForceController.hpp:48
ctrl_lib::CartesianForceController::CartesianForceController
CartesianForceController(std::string const &name="ctrl_lib::CartesianForceController")
Definition CartesianForceController.cpp:9
-
ctrl_lib::CartesianForceController::controller
wbc::CartesianForcePIDController * controller
Definition CartesianForceController.hpp:59
-
ctrl_lib::CartesianForceController::control_output
base::samples::RigidBodyStateSE3 control_output
Definition CartesianForceController.hpp:58
-
ctrl_lib::CartesianForceController::setpoint
base::samples::Wrench setpoint
Definition CartesianForceController.hpp:54
+
ctrl_lib::CartesianForceController::controller
wbc::CartesianForcePIDController * controller
Definition CartesianForceController.hpp:60
+
ctrl_lib::CartesianForceController::control_output
base::samples::RigidBodyStateSE3 control_output
Definition CartesianForceController.hpp:59
+
ctrl_lib::CartesianForceController::setpoint
base::samples::Wrench setpoint
Definition CartesianForceController.hpp:55
ctrl_lib::CartesianForceController::startHook
bool startHook()
Definition CartesianForceController.cpp:35
-
ctrl_lib
Definition CartesianForceController.hpp:11
+
ctrl_lib
Definition CartesianForceController.hpp:12
diff --git a/CartesianPositionController_8hpp.html b/CartesianPositionController_8hpp.html index 4236163..a62b05f 100644 --- a/CartesianPositionController_8hpp.html +++ b/CartesianPositionController_8hpp.html @@ -59,6 +59,7 @@
#include "ctrl_lib/CartesianPositionControllerBase.hpp"
#include <base/samples/RigidBodyStateSE3.hpp>
+#include <wbc/controllers/CartesianPosPDController.hpp>

Go to the source code of this file.

diff --git a/CartesianPositionController_8hpp_source.html b/CartesianPositionController_8hpp_source.html index caba5de..efd43d5 100644 --- a/CartesianPositionController_8hpp_source.html +++ b/CartesianPositionController_8hpp_source.html @@ -66,59 +66,60 @@
5
6#include "ctrl_lib/CartesianPositionControllerBase.hpp"
7#include <base/samples/RigidBodyStateSE3.hpp>
-
8
-
9namespace ctrl_lib {
-
10
-
11class CartesianPosPDController;
-
12
-
-
14class CartesianPositionController : public CartesianPositionControllerBase
-
15{
-
16 friend class CartesianPositionControllerBase;
-
17
-
18public:
-
19 CartesianPositionController(std::string const& name = "ctrl_lib::CartesianPositionController");
-
20 CartesianPositionController(std::string const& name, RTT::ExecutionEngine* engine);
-
21 ~CartesianPositionController(){}
-
22 bool configureHook();
-
23 bool startHook();
-
24 void updateHook();
-
25 void errorHook();
-
26 void stopHook();
-
27 void cleanupHook();
-
28
-
29protected:
-
31 virtual bool readFeedback();
-
33 virtual bool readSetpoint();
-
35 virtual void updateController();
-
37 virtual const base::VectorXd& computeActivation(ActivationFunction& activation_function);
-
38
-
39 base::samples::RigidBodyStateSE3 setpoint, control_output, feedback;
-
40 wbc::CartesianPosPDController* controller;
-
41};
+
8#include <wbc/controllers/CartesianPosPDController.hpp>
+
9
+
10namespace ctrl_lib {
+
11
+
12class CartesianPosPDController;
+
13
+
+
15class CartesianPositionController : public CartesianPositionControllerBase
+
16{
+
17 friend class CartesianPositionControllerBase;
+
18
+
19public:
+
20 CartesianPositionController(std::string const& name = "ctrl_lib::CartesianPositionController");
+
21 CartesianPositionController(std::string const& name, RTT::ExecutionEngine* engine);
+
22 ~CartesianPositionController(){}
+
23 bool configureHook();
+
24 bool startHook();
+
25 void updateHook();
+
26 void errorHook();
+
27 void stopHook();
+
28 void cleanupHook();
+
29
+
30protected:
+
32 virtual bool readFeedback();
+
34 virtual bool readSetpoint();
+
36 virtual void updateController();
+
38 virtual const base::VectorXd& computeActivation(wbc::ActivationFunction& activation_function);
+
39
+
40 base::samples::RigidBodyStateSE3 setpoint, control_output, feedback;
+
41 wbc::CartesianPosPDController* controller;
+
42};
-
42}
-
43
-
44#endif
-
45
-
ctrl_lib::CartesianPositionController
Definition CartesianPositionController.hpp:15
+
43}
+
44
+
45#endif
+
46
+
ctrl_lib::CartesianPositionController
Definition CartesianPositionController.hpp:16
ctrl_lib::CartesianPositionController::cleanupHook
void cleanupHook()
Definition CartesianPositionController.cpp:51
-
ctrl_lib::CartesianPositionController::setpoint
base::samples::RigidBodyStateSE3 setpoint
Definition CartesianPositionController.hpp:39
+
ctrl_lib::CartesianPositionController::setpoint
base::samples::RigidBodyStateSE3 setpoint
Definition CartesianPositionController.hpp:40
ctrl_lib::CartesianPositionController::startHook
bool startHook()
Definition CartesianPositionController.cpp:31
-
ctrl_lib::CartesianPositionController::controller
wbc::CartesianPosPDController * controller
Definition CartesianPositionController.hpp:40
+
ctrl_lib::CartesianPositionController::controller
wbc::CartesianPosPDController * controller
Definition CartesianPositionController.hpp:41
ctrl_lib::CartesianPositionController::errorHook
void errorHook()
Definition CartesianPositionController.cpp:43
-
ctrl_lib::CartesianPositionController::computeActivation
virtual const base::VectorXd & computeActivation(ActivationFunction &activation_function)
Definition CartesianPositionController.cpp:81
ctrl_lib::CartesianPositionController::readSetpoint
virtual bool readSetpoint()
Definition CartesianPositionController.cpp:65
-
ctrl_lib::CartesianPositionController::feedback
base::samples::RigidBodyStateSE3 feedback
Definition CartesianPositionController.hpp:39
-
ctrl_lib::CartesianPositionController::~CartesianPositionController
~CartesianPositionController()
Definition CartesianPositionController.hpp:21
+
ctrl_lib::CartesianPositionController::feedback
base::samples::RigidBodyStateSE3 feedback
Definition CartesianPositionController.hpp:40
+
ctrl_lib::CartesianPositionController::computeActivation
virtual const base::VectorXd & computeActivation(wbc::ActivationFunction &activation_function)
Definition CartesianPositionController.cpp:81
+
ctrl_lib::CartesianPositionController::~CartesianPositionController
~CartesianPositionController()
Definition CartesianPositionController.hpp:22
ctrl_lib::CartesianPositionController::readFeedback
virtual bool readFeedback()
Definition CartesianPositionController.cpp:56
ctrl_lib::CartesianPositionController::CartesianPositionController
CartesianPositionController(std::string const &name="ctrl_lib::CartesianPositionController")
Definition CartesianPositionController.cpp:9
-
ctrl_lib::CartesianPositionController::control_output
base::samples::RigidBodyStateSE3 control_output
Definition CartesianPositionController.hpp:39
+
ctrl_lib::CartesianPositionController::control_output
base::samples::RigidBodyStateSE3 control_output
Definition CartesianPositionController.hpp:40
ctrl_lib::CartesianPositionController::stopHook
void stopHook()
Definition CartesianPositionController.cpp:47
ctrl_lib::CartesianPositionController::configureHook
bool configureHook()
Definition CartesianPositionController.cpp:17
ctrl_lib::CartesianPositionController::updateHook
void updateHook()
Definition CartesianPositionController.cpp:39
ctrl_lib::CartesianPositionController::updateController
virtual void updateController()
Definition CartesianPositionController.cpp:74
-
ctrl_lib
Definition CartesianForceController.hpp:11
+
ctrl_lib
Definition CartesianForceController.hpp:12
diff --git a/CartesianRadialPotentialFields_8hpp.html b/CartesianRadialPotentialFields_8hpp.html index fb833f9..194e997 100644 --- a/CartesianRadialPotentialFields_8hpp.html +++ b/CartesianRadialPotentialFields_8hpp.html @@ -59,6 +59,7 @@
#include "ctrl_lib/CartesianRadialPotentialFieldsBase.hpp"
#include <base/samples/RigidBodyStateSE3.hpp>
+#include <wbc/controllers/PotentialFieldsController.hpp>

Go to the source code of this file.

diff --git a/CartesianRadialPotentialFields_8hpp_source.html b/CartesianRadialPotentialFields_8hpp_source.html index 55d26c0..840fda4 100644 --- a/CartesianRadialPotentialFields_8hpp_source.html +++ b/CartesianRadialPotentialFields_8hpp_source.html @@ -66,64 +66,65 @@
5
6#include "ctrl_lib/CartesianRadialPotentialFieldsBase.hpp"
7#include <base/samples/RigidBodyStateSE3.hpp>
-
8
-
9namespace ctrl_lib {
-
10
-
11class PotentialFieldsController;
-
12
-
-
15class CartesianRadialPotentialFields : public CartesianRadialPotentialFieldsBase
-
16{
-
17 friend class CartesianRadialPotentialFieldsBase;
-
18
-
19public:
-
20 CartesianRadialPotentialFields(std::string const& name = "ctrl_lib::CartesianRadialPotentialFields");
-
21 CartesianRadialPotentialFields(std::string const& name, RTT::ExecutionEngine* engine);
-
22 ~CartesianRadialPotentialFields(){}
-
23 bool configureHook();
-
24 bool startHook();
-
25 void updateHook();
-
26 void errorHook();
-
27 void stopHook();
-
28 void cleanupHook();
-
29
-
30protected:
-
32 virtual bool readFeedback();
-
34 virtual bool readSetpoint();
-
36 virtual void updateController();
-
38 virtual const base::VectorXd& computeActivation(ActivationFunction& activation_function);
-
39
-
40 double influence_distance;
-
41 base::samples::RigidBodyStateSE3 control_output, feedback;
-
42 std::vector<base::samples::RigidBodyState> pot_field_centers;
-
43 wbc::PotentialFieldsController* controller;
-
44 std::vector<PotentialFieldInfo> field_infos;
-
45};
+
8#include <wbc/controllers/PotentialFieldsController.hpp>
+
9
+
10namespace ctrl_lib {
+
11
+
12class PotentialFieldsController;
+
13
+
+
16class CartesianRadialPotentialFields : public CartesianRadialPotentialFieldsBase
+
17{
+
18 friend class CartesianRadialPotentialFieldsBase;
+
19
+
20public:
+
21 CartesianRadialPotentialFields(std::string const& name = "ctrl_lib::CartesianRadialPotentialFields");
+
22 CartesianRadialPotentialFields(std::string const& name, RTT::ExecutionEngine* engine);
+
23 ~CartesianRadialPotentialFields(){}
+
24 bool configureHook();
+
25 bool startHook();
+
26 void updateHook();
+
27 void errorHook();
+
28 void stopHook();
+
29 void cleanupHook();
+
30
+
31protected:
+
33 virtual bool readFeedback();
+
35 virtual bool readSetpoint();
+
37 virtual void updateController();
+
39 virtual const base::VectorXd& computeActivation(wbc::ActivationFunction& activation_function);
+
40
+
41 double influence_distance;
+
42 base::samples::RigidBodyStateSE3 control_output, feedback;
+
43 std::vector<base::samples::RigidBodyState> pot_field_centers;
+
44 wbc::PotentialFieldsController* controller;
+
45 std::vector<wbc::PotentialFieldInfo> field_infos;
+
46};
-
46}
-
47
-
48#endif
-
49
-
ctrl_lib::CartesianRadialPotentialFields
Definition CartesianRadialPotentialFields.hpp:16
-
ctrl_lib::CartesianRadialPotentialFields::computeActivation
virtual const base::VectorXd & computeActivation(ActivationFunction &activation_function)
Definition CartesianRadialPotentialFields.cpp:96
-
ctrl_lib::CartesianRadialPotentialFields::pot_field_centers
std::vector< base::samples::RigidBodyState > pot_field_centers
Definition CartesianRadialPotentialFields.hpp:42
+
47}
+
48
+
49#endif
+
50
+
ctrl_lib::CartesianRadialPotentialFields
Definition CartesianRadialPotentialFields.hpp:17
+
ctrl_lib::CartesianRadialPotentialFields::pot_field_centers
std::vector< base::samples::RigidBodyState > pot_field_centers
Definition CartesianRadialPotentialFields.hpp:43
ctrl_lib::CartesianRadialPotentialFields::CartesianRadialPotentialFields
CartesianRadialPotentialFields(std::string const &name="ctrl_lib::CartesianRadialPotentialFields")
Definition CartesianRadialPotentialFields.cpp:10
-
ctrl_lib::CartesianRadialPotentialFields::control_output
base::samples::RigidBodyStateSE3 control_output
Definition CartesianRadialPotentialFields.hpp:41
-
ctrl_lib::CartesianRadialPotentialFields::~CartesianRadialPotentialFields
~CartesianRadialPotentialFields()
Definition CartesianRadialPotentialFields.hpp:22
+
ctrl_lib::CartesianRadialPotentialFields::field_infos
std::vector< wbc::PotentialFieldInfo > field_infos
Definition CartesianRadialPotentialFields.hpp:45
+
ctrl_lib::CartesianRadialPotentialFields::control_output
base::samples::RigidBodyStateSE3 control_output
Definition CartesianRadialPotentialFields.hpp:42
+
ctrl_lib::CartesianRadialPotentialFields::~CartesianRadialPotentialFields
~CartesianRadialPotentialFields()
Definition CartesianRadialPotentialFields.hpp:23
ctrl_lib::CartesianRadialPotentialFields::cleanupHook
void cleanupHook()
Definition CartesianRadialPotentialFields.cpp:54
ctrl_lib::CartesianRadialPotentialFields::errorHook
void errorHook()
Definition CartesianRadialPotentialFields.cpp:45
ctrl_lib::CartesianRadialPotentialFields::updateHook
void updateHook()
Definition CartesianRadialPotentialFields.cpp:41
ctrl_lib::CartesianRadialPotentialFields::updateController
virtual void updateController()
Definition CartesianRadialPotentialFields.cpp:75
ctrl_lib::CartesianRadialPotentialFields::startHook
bool startHook()
Definition CartesianRadialPotentialFields.cpp:30
-
ctrl_lib::CartesianRadialPotentialFields::field_infos
std::vector< PotentialFieldInfo > field_infos
Definition CartesianRadialPotentialFields.hpp:44
+
ctrl_lib::CartesianRadialPotentialFields::computeActivation
virtual const base::VectorXd & computeActivation(wbc::ActivationFunction &activation_function)
Definition CartesianRadialPotentialFields.cpp:96
ctrl_lib::CartesianRadialPotentialFields::readFeedback
virtual bool readFeedback()
Definition CartesianRadialPotentialFields.cpp:59
ctrl_lib::CartesianRadialPotentialFields::readSetpoint
virtual bool readSetpoint()
Definition CartesianRadialPotentialFields.cpp:68
ctrl_lib::CartesianRadialPotentialFields::stopHook
void stopHook()
Definition CartesianRadialPotentialFields.cpp:49
ctrl_lib::CartesianRadialPotentialFields::configureHook
bool configureHook()
Definition CartesianRadialPotentialFields.cpp:18
-
ctrl_lib::CartesianRadialPotentialFields::influence_distance
double influence_distance
Definition CartesianRadialPotentialFields.hpp:40
-
ctrl_lib::CartesianRadialPotentialFields::controller
wbc::PotentialFieldsController * controller
Definition CartesianRadialPotentialFields.hpp:43
-
ctrl_lib::CartesianRadialPotentialFields::feedback
base::samples::RigidBodyStateSE3 feedback
Definition CartesianRadialPotentialFields.hpp:41
-
ctrl_lib
Definition CartesianForceController.hpp:11
+
ctrl_lib::CartesianRadialPotentialFields::influence_distance
double influence_distance
Definition CartesianRadialPotentialFields.hpp:41
+
ctrl_lib::CartesianRadialPotentialFields::controller
wbc::PotentialFieldsController * controller
Definition CartesianRadialPotentialFields.hpp:44
+
ctrl_lib::CartesianRadialPotentialFields::feedback
base::samples::RigidBodyStateSE3 feedback
Definition CartesianRadialPotentialFields.hpp:42
+
ctrl_lib
Definition CartesianForceController.hpp:12
diff --git a/ControllerTask_8hpp_source.html b/ControllerTask_8hpp_source.html index 5d4cb9b..235d9bb 100644 --- a/ControllerTask_8hpp_source.html +++ b/ControllerTask_8hpp_source.html @@ -78,10 +78,10 @@
30 virtual bool readFeedback() = 0;
32 virtual bool readSetpoint() = 0;
34 virtual void updateController() = 0;
-
36 virtual const base::VectorXd& computeActivation(ActivationFunction& activation_function) = 0;
+
36 virtual const base::VectorXd& computeActivation(wbc::ActivationFunction& activation_function) = 0;
37
38 std::vector<std::string> field_names;
-
39 ActivationFunction activation_function;
+
39 wbc::ActivationFunction activation_function;
40 base::VectorXd tmp;
41 base::Time stamp;
42
@@ -104,21 +104,21 @@
ctrl_lib::ControllerTask
Definition ControllerTask.hpp:26
ctrl_lib::ControllerTask::readSetpoint
virtual bool readSetpoint()=0
ctrl_lib::ControllerTask::updateController
virtual void updateController()=0
-
ctrl_lib::ControllerTask::activation_function
ActivationFunction activation_function
Definition ControllerTask.hpp:39
+
ctrl_lib::ControllerTask::activation_function
wbc::ActivationFunction activation_function
Definition ControllerTask.hpp:39
ctrl_lib::ControllerTask::~ControllerTask
~ControllerTask()
Definition ControllerTask.hpp:46
ctrl_lib::ControllerTask::errorHook
void errorHook()
Definition ControllerTask.cpp:57
ctrl_lib::ControllerTask::stopHook
void stopHook()
Definition ControllerTask.cpp:61
+
ctrl_lib::ControllerTask::computeActivation
virtual const base::VectorXd & computeActivation(wbc::ActivationFunction &activation_function)=0
ctrl_lib::ControllerTask::cleanupHook
void cleanupHook()
Definition ControllerTask.cpp:65
ctrl_lib::ControllerTask::configureHook
bool configureHook()
Definition ControllerTask.cpp:15
ctrl_lib::ControllerTask::startHook
bool startHook()
Definition ControllerTask.cpp:25
ctrl_lib::ControllerTask::updateHook
void updateHook()
Definition ControllerTask.cpp:32
-
ctrl_lib::ControllerTask::computeActivation
virtual const base::VectorXd & computeActivation(ActivationFunction &activation_function)=0
ctrl_lib::ControllerTask::field_names
std::vector< std::string > field_names
Definition ControllerTask.hpp:38
ctrl_lib::ControllerTask::readFeedback
virtual bool readFeedback()=0
ctrl_lib::ControllerTask::stamp
base::Time stamp
Definition ControllerTask.hpp:41
ctrl_lib::ControllerTask::tmp
base::VectorXd tmp
Definition ControllerTask.hpp:40
ctrl_lib::ControllerTask::ControllerTask
ControllerTask(std::string const &name="ctrl_lib::ControllerTask")
Definition ControllerTask.cpp:7
-
ctrl_lib
Definition CartesianForceController.hpp:11
+
ctrl_lib
Definition CartesianForceController.hpp:12
diff --git a/ControllerTransformationProxy_8hpp_source.html b/ControllerTransformationProxy_8hpp_source.html index 71d6b84..72bc5c6 100644 --- a/ControllerTransformationProxy_8hpp_source.html +++ b/ControllerTransformationProxy_8hpp_source.html @@ -107,7 +107,7 @@
ctrl_lib::ControllerTransformationProxy::startHook
bool startHook()
Definition ControllerTransformationProxy.hpp:21
ctrl_lib::ControllerTransformationProxy::errorHook
void errorHook()
Definition ControllerTransformationProxy.hpp:23
ctrl_lib::ControllerTransformationProxy::cleanupHook
void cleanupHook()
Definition ControllerTransformationProxy.hpp:25
-
ctrl_lib
Definition CartesianForceController.hpp:11
+
ctrl_lib
Definition CartesianForceController.hpp:12
diff --git a/JointLimitAvoidance_8hpp.html b/JointLimitAvoidance_8hpp.html index c9b6df9..7a97437 100644 --- a/JointLimitAvoidance_8hpp.html +++ b/JointLimitAvoidance_8hpp.html @@ -59,6 +59,7 @@
#include "ctrl_lib/JointLimitAvoidanceBase.hpp"
#include <base/commands/Joints.hpp>
+#include <wbc/controllers/JointLimitAvoidanceController.hpp>

Go to the source code of this file.

diff --git a/JointLimitAvoidance_8hpp_source.html b/JointLimitAvoidance_8hpp_source.html index 2cb1b7c..3e0c60e 100644 --- a/JointLimitAvoidance_8hpp_source.html +++ b/JointLimitAvoidance_8hpp_source.html @@ -66,65 +66,66 @@
5
6#include "ctrl_lib/JointLimitAvoidanceBase.hpp"
7#include <base/commands/Joints.hpp>
-
8
-
9namespace ctrl_lib{
-
10
-
11class JointLimitAvoidanceController;
-
12
-
-
15class JointLimitAvoidance : public JointLimitAvoidanceBase
-
16{
-
17 friend class JointLimitAvoidanceBase;
-
18
-
19public:
-
20 JointLimitAvoidance(std::string const& name = "ctrl_lib::JointLimitAvoidance");
-
21 JointLimitAvoidance(std::string const& name, RTT::ExecutionEngine* engine);
-
22 ~JointLimitAvoidance(){}
-
23 bool configureHook();
-
24 bool startHook();
-
25 void updateHook();
-
26 void errorHook();
-
27 void stopHook();
-
28 void cleanupHook();
-
29
-
30protected:
-
32 virtual bool readFeedback();
-
34 virtual bool readSetpoint();
-
36 virtual void updateController();
-
38 virtual const base::VectorXd& computeActivation(ActivationFunction& activation_function);
-
39
-
40 base::JointLimits joint_limits;
-
41 base::samples::Joints feedback;
-
42 base::VectorXd position_raw;
-
43 base::commands::Joints control_output;
-
44 base::VectorXd influence_distance;
-
45 wbc::JointLimitAvoidanceController* controller;
-
46};
+
8#include <wbc/controllers/JointLimitAvoidanceController.hpp>
+
9
+
10namespace ctrl_lib{
+
11
+
12class JointLimitAvoidanceController;
+
13
+
+
16class JointLimitAvoidance : public JointLimitAvoidanceBase
+
17{
+
18 friend class JointLimitAvoidanceBase;
+
19
+
20public:
+
21 JointLimitAvoidance(std::string const& name = "ctrl_lib::JointLimitAvoidance");
+
22 JointLimitAvoidance(std::string const& name, RTT::ExecutionEngine* engine);
+
23 ~JointLimitAvoidance(){}
+
24 bool configureHook();
+
25 bool startHook();
+
26 void updateHook();
+
27 void errorHook();
+
28 void stopHook();
+
29 void cleanupHook();
+
30
+
31protected:
+
33 virtual bool readFeedback();
+
35 virtual bool readSetpoint();
+
37 virtual void updateController();
+
39 virtual const base::VectorXd& computeActivation(wbc::ActivationFunction& activation_function);
+
40
+
41 base::JointLimits joint_limits;
+
42 base::samples::Joints feedback;
+
43 base::VectorXd position_raw;
+
44 base::commands::Joints control_output;
+
45 base::VectorXd influence_distance;
+
46 wbc::JointLimitAvoidanceController* controller;
+
47};
-
47}
-
48
-
49#endif
-
50
-
ctrl_lib::JointLimitAvoidance
Definition JointLimitAvoidance.hpp:16
-
ctrl_lib::JointLimitAvoidance::control_output
base::commands::Joints control_output
Definition JointLimitAvoidance.hpp:43
-
ctrl_lib::JointLimitAvoidance::controller
wbc::JointLimitAvoidanceController * controller
Definition JointLimitAvoidance.hpp:45
+
48}
+
49
+
50#endif
+
51
+
ctrl_lib::JointLimitAvoidance
Definition JointLimitAvoidance.hpp:17
+
ctrl_lib::JointLimitAvoidance::control_output
base::commands::Joints control_output
Definition JointLimitAvoidance.hpp:44
+
ctrl_lib::JointLimitAvoidance::controller
wbc::JointLimitAvoidanceController * controller
Definition JointLimitAvoidance.hpp:46
ctrl_lib::JointLimitAvoidance::JointLimitAvoidance
JointLimitAvoidance(std::string const &name="ctrl_lib::JointLimitAvoidance")
Definition JointLimitAvoidance.cpp:10
ctrl_lib::JointLimitAvoidance::readFeedback
virtual bool readFeedback()
Definition JointLimitAvoidance.cpp:56
ctrl_lib::JointLimitAvoidance::cleanupHook
void cleanupHook()
Definition JointLimitAvoidance.cpp:51
ctrl_lib::JointLimitAvoidance::updateHook
void updateHook()
Definition JointLimitAvoidance.cpp:39
ctrl_lib::JointLimitAvoidance::updateController
virtual void updateController()
Definition JointLimitAvoidance.cpp:69
-
ctrl_lib::JointLimitAvoidance::influence_distance
base::VectorXd influence_distance
Definition JointLimitAvoidance.hpp:44
+
ctrl_lib::JointLimitAvoidance::influence_distance
base::VectorXd influence_distance
Definition JointLimitAvoidance.hpp:45
ctrl_lib::JointLimitAvoidance::configureHook
bool configureHook()
Definition JointLimitAvoidance.cpp:18
-
ctrl_lib::JointLimitAvoidance::~JointLimitAvoidance
~JointLimitAvoidance()
Definition JointLimitAvoidance.hpp:22
-
ctrl_lib::JointLimitAvoidance::joint_limits
base::JointLimits joint_limits
Definition JointLimitAvoidance.hpp:40
-
ctrl_lib::JointLimitAvoidance::computeActivation
virtual const base::VectorXd & computeActivation(ActivationFunction &activation_function)
Definition JointLimitAvoidance.cpp:77
-
ctrl_lib::JointLimitAvoidance::position_raw
base::VectorXd position_raw
Definition JointLimitAvoidance.hpp:42
+
ctrl_lib::JointLimitAvoidance::~JointLimitAvoidance
~JointLimitAvoidance()
Definition JointLimitAvoidance.hpp:23
+
ctrl_lib::JointLimitAvoidance::joint_limits
base::JointLimits joint_limits
Definition JointLimitAvoidance.hpp:41
+
ctrl_lib::JointLimitAvoidance::position_raw
base::VectorXd position_raw
Definition JointLimitAvoidance.hpp:43
ctrl_lib::JointLimitAvoidance::startHook
bool startHook()
Definition JointLimitAvoidance.cpp:32
-
ctrl_lib::JointLimitAvoidance::feedback
base::samples::Joints feedback
Definition JointLimitAvoidance.hpp:41
+
ctrl_lib::JointLimitAvoidance::feedback
base::samples::Joints feedback
Definition JointLimitAvoidance.hpp:42
+
ctrl_lib::JointLimitAvoidance::computeActivation
virtual const base::VectorXd & computeActivation(wbc::ActivationFunction &activation_function)
Definition JointLimitAvoidance.cpp:77
ctrl_lib::JointLimitAvoidance::readSetpoint
virtual bool readSetpoint()
Definition JointLimitAvoidance.cpp:65
ctrl_lib::JointLimitAvoidance::stopHook
void stopHook()
Definition JointLimitAvoidance.cpp:47
ctrl_lib::JointLimitAvoidance::errorHook
void errorHook()
Definition JointLimitAvoidance.cpp:43
-
ctrl_lib
Definition CartesianForceController.hpp:11
+
ctrl_lib
Definition CartesianForceController.hpp:12
diff --git a/JointPositionController_8hpp.html b/JointPositionController_8hpp.html index 3dc5e7d..5d7c0e6 100644 --- a/JointPositionController_8hpp.html +++ b/JointPositionController_8hpp.html @@ -59,6 +59,7 @@
#include "ctrl_lib/JointPositionControllerBase.hpp"
#include <base/commands/Joints.hpp>
+#include <wbc/controllers/JointPosPDController.hpp>

Go to the source code of this file.

diff --git a/JointPositionController_8hpp_source.html b/JointPositionController_8hpp_source.html index 1c0e9fb..a2012ef 100644 --- a/JointPositionController_8hpp_source.html +++ b/JointPositionController_8hpp_source.html @@ -66,59 +66,60 @@
5
6#include "ctrl_lib/JointPositionControllerBase.hpp"
7#include <base/commands/Joints.hpp>
-
8
-
9namespace ctrl_lib {
-
10
-
11class JointPosPDController;
-
12
-
-
14class JointPositionController : public JointPositionControllerBase
-
15{
-
16 friend class JointPositionControllerBase;
-
17
-
18public:
-
19 JointPositionController(std::string const& name = "ctrl_lib::JointPositionController");
-
20 JointPositionController(std::string const& name, RTT::ExecutionEngine* engine);
-
21 ~JointPositionController(){}
-
22 bool configureHook();
-
23 bool startHook();
-
24 void updateHook();
-
25 void errorHook();
-
26 void stopHook();
-
27 void cleanupHook();
-
28
-
29protected:
-
31 virtual bool readFeedback();
-
33 virtual bool readSetpoint();
-
35 virtual void updateController();
-
37 virtual const base::VectorXd& computeActivation(ActivationFunction& activation_function);
-
38
-
39 base::commands::Joints setpoint, control_output, feedback;
-
40 wbc::JointPosPDController* controller;
-
41};
+
8#include <wbc/controllers/JointPosPDController.hpp>
+
9
+
10namespace ctrl_lib {
+
11
+
12class JointPosPDController;
+
13
+
+
15class JointPositionController : public JointPositionControllerBase
+
16{
+
17 friend class JointPositionControllerBase;
+
18
+
19public:
+
20 JointPositionController(std::string const& name = "ctrl_lib::JointPositionController");
+
21 JointPositionController(std::string const& name, RTT::ExecutionEngine* engine);
+
22 ~JointPositionController(){}
+
23 bool configureHook();
+
24 bool startHook();
+
25 void updateHook();
+
26 void errorHook();
+
27 void stopHook();
+
28 void cleanupHook();
+
29
+
30protected:
+
32 virtual bool readFeedback();
+
34 virtual bool readSetpoint();
+
36 virtual void updateController();
+
38 virtual const base::VectorXd& computeActivation(wbc::ActivationFunction& activation_function);
+
39
+
40 base::commands::Joints setpoint, control_output, feedback;
+
41 wbc::JointPosPDController* controller;
+
42};
-
42}
-
43
-
44#endif
-
45
-
ctrl_lib::JointPositionController
Definition JointPositionController.hpp:15
-
ctrl_lib::JointPositionController::~JointPositionController
~JointPositionController()
Definition JointPositionController.hpp:21
+
43}
+
44
+
45#endif
+
46
+
ctrl_lib::JointPositionController
Definition JointPositionController.hpp:16
+
ctrl_lib::JointPositionController::~JointPositionController
~JointPositionController()
Definition JointPositionController.hpp:22
ctrl_lib::JointPositionController::configureHook
bool configureHook()
Definition JointPositionController.cpp:17
ctrl_lib::JointPositionController::readFeedback
virtual bool readFeedback()
Definition JointPositionController.cpp:56
-
ctrl_lib::JointPositionController::feedback
base::commands::Joints feedback
Definition JointPositionController.hpp:39
-
ctrl_lib::JointPositionController::control_output
base::commands::Joints control_output
Definition JointPositionController.hpp:39
-
ctrl_lib::JointPositionController::controller
wbc::JointPosPDController * controller
Definition JointPositionController.hpp:40
+
ctrl_lib::JointPositionController::computeActivation
virtual const base::VectorXd & computeActivation(wbc::ActivationFunction &activation_function)
Definition JointPositionController.cpp:81
+
ctrl_lib::JointPositionController::feedback
base::commands::Joints feedback
Definition JointPositionController.hpp:40
+
ctrl_lib::JointPositionController::control_output
base::commands::Joints control_output
Definition JointPositionController.hpp:40
+
ctrl_lib::JointPositionController::controller
wbc::JointPosPDController * controller
Definition JointPositionController.hpp:41
ctrl_lib::JointPositionController::readSetpoint
virtual bool readSetpoint()
Definition JointPositionController.cpp:65
ctrl_lib::JointPositionController::startHook
bool startHook()
Definition JointPositionController.cpp:31
ctrl_lib::JointPositionController::updateController
virtual void updateController()
Definition JointPositionController.cpp:74
ctrl_lib::JointPositionController::JointPositionController
JointPositionController(std::string const &name="ctrl_lib::JointPositionController")
Definition JointPositionController.cpp:9
ctrl_lib::JointPositionController::errorHook
void errorHook()
Definition JointPositionController.cpp:43
-
ctrl_lib::JointPositionController::setpoint
base::commands::Joints setpoint
Definition JointPositionController.hpp:39
+
ctrl_lib::JointPositionController::setpoint
base::commands::Joints setpoint
Definition JointPositionController.hpp:40
ctrl_lib::JointPositionController::stopHook
void stopHook()
Definition JointPositionController.cpp:47
ctrl_lib::JointPositionController::cleanupHook
void cleanupHook()
Definition JointPositionController.cpp:51
ctrl_lib::JointPositionController::updateHook
void updateHook()
Definition JointPositionController.cpp:39
-
ctrl_lib::JointPositionController::computeActivation
virtual const base::VectorXd & computeActivation(ActivationFunction &activation_function)
Definition JointPositionController.cpp:81
-
ctrl_lib
Definition CartesianForceController.hpp:11
+
ctrl_lib
Definition CartesianForceController.hpp:12
diff --git a/JointTorqueController_8hpp.html b/JointTorqueController_8hpp.html index d4a9056..4fbb9b1 100644 --- a/JointTorqueController_8hpp.html +++ b/JointTorqueController_8hpp.html @@ -59,6 +59,7 @@
#include "ctrl_lib/JointTorqueControllerBase.hpp"
#include <base/commands/Joints.hpp>
+#include <wbc/controllers/JointTorquePIDController.hpp>

Go to the source code of this file.

diff --git a/JointTorqueController_8hpp_source.html b/JointTorqueController_8hpp_source.html index 81d2170..26d1aab 100644 --- a/JointTorqueController_8hpp_source.html +++ b/JointTorqueController_8hpp_source.html @@ -66,60 +66,61 @@
5
6#include "ctrl_lib/JointTorqueControllerBase.hpp"
7#include <base/commands/Joints.hpp>
-
8
-
9namespace ctrl_lib{
-
10
-
11class JointTorquePIDController;
-
12
-
-
14class JointTorqueController : public JointTorqueControllerBase
-
15{
-
16 friend class JointTorqueControllerBase;
-
17
-
18public:
-
19 JointTorqueController(std::string const& name = "ctrl_lib::JointTorqueController");
-
20 JointTorqueController(std::string const& name, RTT::ExecutionEngine* engine);
-
21 ~JointTorqueController(){}
-
22 bool configureHook();
-
23 bool startHook();
-
24 void updateHook();
-
25 void errorHook();
-
26 void stopHook();
-
27 void cleanupHook();
-
28
-
29protected:
-
31 virtual bool readFeedback();
-
33 virtual bool readSetpoint();
-
35 virtual void updateController();
-
37 virtual const base::VectorXd& computeActivation(ActivationFunction& activation_function);
-
38
-
39 base::commands::Joints setpoint, control_output, feedback;
-
40 wbc::JointTorquePIDController* controller;
-
41
-
42};
+
8#include <wbc/controllers/JointTorquePIDController.hpp>
+
9
+
10namespace ctrl_lib{
+
11
+
12class JointTorquePIDController;
+
13
+
+
15class JointTorqueController : public JointTorqueControllerBase
+
16{
+
17 friend class JointTorqueControllerBase;
+
18
+
19public:
+
20 JointTorqueController(std::string const& name = "ctrl_lib::JointTorqueController");
+
21 JointTorqueController(std::string const& name, RTT::ExecutionEngine* engine);
+
22 ~JointTorqueController(){}
+
23 bool configureHook();
+
24 bool startHook();
+
25 void updateHook();
+
26 void errorHook();
+
27 void stopHook();
+
28 void cleanupHook();
+
29
+
30protected:
+
32 virtual bool readFeedback();
+
34 virtual bool readSetpoint();
+
36 virtual void updateController();
+
38 virtual const base::VectorXd& computeActivation(wbc::ActivationFunction& activation_function);
+
39
+
40 base::commands::Joints setpoint, control_output, feedback;
+
41 wbc::JointTorquePIDController* controller;
+
42
+
43};
-
43}
-
44
-
45#endif
-
46
-
ctrl_lib::JointTorqueController
Definition JointTorqueController.hpp:15
+
44}
+
45
+
46#endif
+
47
+
ctrl_lib::JointTorqueController
Definition JointTorqueController.hpp:16
ctrl_lib::JointTorqueController::stopHook
void stopHook()
Definition JointTorqueController.cpp:45
-
ctrl_lib::JointTorqueController::feedback
base::commands::Joints feedback
Definition JointTorqueController.hpp:39
-
ctrl_lib::JointTorqueController::computeActivation
virtual const base::VectorXd & computeActivation(ActivationFunction &activation_function)
Definition JointTorqueController.cpp:78
+
ctrl_lib::JointTorqueController::computeActivation
virtual const base::VectorXd & computeActivation(wbc::ActivationFunction &activation_function)
Definition JointTorqueController.cpp:78
+
ctrl_lib::JointTorqueController::feedback
base::commands::Joints feedback
Definition JointTorqueController.hpp:40
ctrl_lib::JointTorqueController::configureHook
bool configureHook()
Definition JointTorqueController.cpp:17
ctrl_lib::JointTorqueController::errorHook
void errorHook()
Definition JointTorqueController.cpp:41
-
ctrl_lib::JointTorqueController::setpoint
base::commands::Joints setpoint
Definition JointTorqueController.hpp:39
-
ctrl_lib::JointTorqueController::controller
wbc::JointTorquePIDController * controller
Definition JointTorqueController.hpp:40
+
ctrl_lib::JointTorqueController::setpoint
base::commands::Joints setpoint
Definition JointTorqueController.hpp:40
+
ctrl_lib::JointTorqueController::controller
wbc::JointTorquePIDController * controller
Definition JointTorqueController.hpp:41
ctrl_lib::JointTorqueController::startHook
bool startHook()
Definition JointTorqueController.cpp:29
ctrl_lib::JointTorqueController::readSetpoint
virtual bool readSetpoint()
Definition JointTorqueController.cpp:62
ctrl_lib::JointTorqueController::updateController
virtual void updateController()
Definition JointTorqueController.cpp:71
-
ctrl_lib::JointTorqueController::~JointTorqueController
~JointTorqueController()
Definition JointTorqueController.hpp:21
+
ctrl_lib::JointTorqueController::~JointTorqueController
~JointTorqueController()
Definition JointTorqueController.hpp:22
ctrl_lib::JointTorqueController::updateHook
void updateHook()
Definition JointTorqueController.cpp:37
ctrl_lib::JointTorqueController::readFeedback
virtual bool readFeedback()
Definition JointTorqueController.cpp:53
-
ctrl_lib::JointTorqueController::control_output
base::commands::Joints control_output
Definition JointTorqueController.hpp:39
+
ctrl_lib::JointTorqueController::control_output
base::commands::Joints control_output
Definition JointTorqueController.hpp:40
ctrl_lib::JointTorqueController::cleanupHook
void cleanupHook()
Definition JointTorqueController.cpp:49
ctrl_lib::JointTorqueController::JointTorqueController
JointTorqueController(std::string const &name="ctrl_lib::JointTorqueController")
Definition JointTorqueController.cpp:8
-
ctrl_lib
Definition CartesianForceController.hpp:11
+
ctrl_lib
Definition CartesianForceController.hpp:12
diff --git a/classctrl__lib_1_1CartesianForceController-members.html b/classctrl__lib_1_1CartesianForceController-members.html index e332082..ea6245b 100644 --- a/classctrl__lib_1_1CartesianForceController-members.html +++ b/classctrl__lib_1_1CartesianForceController-members.html @@ -61,7 +61,7 @@
- + diff --git a/classctrl__lib_1_1CartesianForceController.html b/classctrl__lib_1_1CartesianForceController.html index a810ec1..05fa8f2 100644 --- a/classctrl__lib_1_1CartesianForceController.html +++ b/classctrl__lib_1_1CartesianForceController.html @@ -98,8 +98,8 @@ - - + + @@ -215,8 +215,8 @@

-

◆ computeActivation()

+ +

◆ computeActivation()

@@ -227,7 +227,7 @@

const base::VectorXd & CartesianForceController::computeActivation

- +
CartesianForceController(std::string const &name, RTT::ExecutionEngine *engine)ctrl_lib::CartesianForceController
CartesianForceControllerBasectrl_lib::CartesianForceControllerfriend
cleanupHook()ctrl_lib::CartesianForceController
computeActivation(ActivationFunction &activation_function)ctrl_lib::CartesianForceControllerprotectedvirtual
computeActivation(wbc::ActivationFunction &activation_function)ctrl_lib::CartesianForceControllerprotectedvirtual
configureHook()ctrl_lib::CartesianForceController
control_outputctrl_lib::CartesianForceControllerprotected
controllerctrl_lib::CartesianForceControllerprotected
 
virtual void updateController ()
 
virtual const base::VectorXd & computeActivation (ActivationFunction &activation_function)
 
virtual const base::VectorXd & computeActivation (wbc::ActivationFunction &activation_function)
 
bool isValid (const base::Wrench &w)
 
const base::VectorXd wrenchToRaw (const base::samples::Wrench &wrench, base::VectorXd &raw)
(ActivationFunction & activation_function)wbc::ActivationFunction & activation_function)
diff --git a/classctrl__lib_1_1CartesianPositionController-members.html b/classctrl__lib_1_1CartesianPositionController-members.html index 7746e71..d66dc88 100644 --- a/classctrl__lib_1_1CartesianPositionController-members.html +++ b/classctrl__lib_1_1CartesianPositionController-members.html @@ -61,7 +61,7 @@ CartesianPositionController(std::string const &name, RTT::ExecutionEngine *engine)ctrl_lib::CartesianPositionController CartesianPositionControllerBasectrl_lib::CartesianPositionControllerfriend cleanupHook()ctrl_lib::CartesianPositionController - computeActivation(ActivationFunction &activation_function)ctrl_lib::CartesianPositionControllerprotectedvirtual + computeActivation(wbc::ActivationFunction &activation_function)ctrl_lib::CartesianPositionControllerprotectedvirtual configureHook()ctrl_lib::CartesianPositionController control_outputctrl_lib::CartesianPositionControllerprotected controllerctrl_lib::CartesianPositionControllerprotected diff --git a/classctrl__lib_1_1CartesianPositionController.html b/classctrl__lib_1_1CartesianPositionController.html index 1a7d900..2f1e1f5 100644 --- a/classctrl__lib_1_1CartesianPositionController.html +++ b/classctrl__lib_1_1CartesianPositionController.html @@ -98,8 +98,8 @@   virtual void updateController ()   -virtual const base::VectorXd & computeActivation (ActivationFunction &activation_function) -  +virtual const base::VectorXd & computeActivation (wbc::ActivationFunction &activation_function) +  @@ -201,8 +201,8 @@

-

◆ computeActivation()

+ +

◆ computeActivation()

@@ -213,7 +213,7 @@

const base::VectorXd & CartesianPositionController::computeActivation

- +

Protected Attributes

(ActivationFunction & activation_function)wbc::ActivationFunction & activation_function)
diff --git a/classctrl__lib_1_1CartesianRadialPotentialFields-members.html b/classctrl__lib_1_1CartesianRadialPotentialFields-members.html index 4f2f3b7..c036754 100644 --- a/classctrl__lib_1_1CartesianRadialPotentialFields-members.html +++ b/classctrl__lib_1_1CartesianRadialPotentialFields-members.html @@ -61,13 +61,13 @@ CartesianRadialPotentialFields(std::string const &name, RTT::ExecutionEngine *engine)ctrl_lib::CartesianRadialPotentialFields CartesianRadialPotentialFieldsBasectrl_lib::CartesianRadialPotentialFieldsfriend cleanupHook()ctrl_lib::CartesianRadialPotentialFields - computeActivation(ActivationFunction &activation_function)ctrl_lib::CartesianRadialPotentialFieldsprotectedvirtual + computeActivation(wbc::ActivationFunction &activation_function)ctrl_lib::CartesianRadialPotentialFieldsprotectedvirtual configureHook()ctrl_lib::CartesianRadialPotentialFields control_outputctrl_lib::CartesianRadialPotentialFieldsprotected controllerctrl_lib::CartesianRadialPotentialFieldsprotected errorHook()ctrl_lib::CartesianRadialPotentialFields feedbackctrl_lib::CartesianRadialPotentialFieldsprotected - field_infosctrl_lib::CartesianRadialPotentialFieldsprotected + field_infosctrl_lib::CartesianRadialPotentialFieldsprotected influence_distancectrl_lib::CartesianRadialPotentialFieldsprotected pot_field_centersctrl_lib::CartesianRadialPotentialFieldsprotected readFeedback()ctrl_lib::CartesianRadialPotentialFieldsprotectedvirtual diff --git a/classctrl__lib_1_1CartesianRadialPotentialFields.html b/classctrl__lib_1_1CartesianRadialPotentialFields.html index c88457c..6e966cf 100644 --- a/classctrl__lib_1_1CartesianRadialPotentialFields.html +++ b/classctrl__lib_1_1CartesianRadialPotentialFields.html @@ -98,8 +98,8 @@   virtual void updateController ()   -virtual const base::VectorXd & computeActivation (ActivationFunction &activation_function) -  +virtual const base::VectorXd & computeActivation (wbc::ActivationFunction &activation_function) +  @@ -113,8 +113,8 @@ - - + +

Protected Attributes

 
wbc::PotentialFieldsController * controller
 
std::vector< PotentialFieldInfo > field_infos
 
std::vector< wbc::PotentialFieldInfo > field_infos
 
@@ -206,8 +206,8 @@

-

◆ computeActivation()

+ +

◆ computeActivation()

@@ -218,7 +218,7 @@

const base::VectorXd & CartesianRadialPotentialFields::computeActivation

- +

Friends

(ActivationFunction & activation_function)wbc::ActivationFunction & activation_function)
@@ -485,8 +485,8 @@

-

◆ field_infos

+ +

◆ field_infos

@@ -495,7 +495,7 @@

- +
std::vector<PotentialFieldInfo> ctrl_lib::CartesianRadialPotentialFields::field_infosstd::vector<wbc::PotentialFieldInfo> ctrl_lib::CartesianRadialPotentialFields::field_infos
diff --git a/classctrl__lib_1_1ControllerTask-members.html b/classctrl__lib_1_1ControllerTask-members.html index 79d63af..5dc39e2 100644 --- a/classctrl__lib_1_1ControllerTask-members.html +++ b/classctrl__lib_1_1ControllerTask-members.html @@ -57,9 +57,9 @@

This is the complete list of members for ctrl_lib::ControllerTask, including all inherited members.

- + - + diff --git a/classctrl__lib_1_1ControllerTask.html b/classctrl__lib_1_1ControllerTask.html index 8cfc207..6c28b8f 100644 --- a/classctrl__lib_1_1ControllerTask.html +++ b/classctrl__lib_1_1ControllerTask.html @@ -98,15 +98,15 @@ - - + +
activation_functionctrl_lib::ControllerTaskprotected
activation_functionctrl_lib::ControllerTaskprotected
cleanupHook()ctrl_lib::ControllerTask
computeActivation(ActivationFunction &activation_function)=0ctrl_lib::ControllerTaskprotectedpure virtual
computeActivation(wbc::ActivationFunction &activation_function)=0ctrl_lib::ControllerTaskprotectedpure virtual
configureHook()ctrl_lib::ControllerTask
ControllerTask(std::string const &name="ctrl_lib::ControllerTask")ctrl_lib::ControllerTask
ControllerTask(std::string const &name, RTT::ExecutionEngine *engine)ctrl_lib::ControllerTask
 
virtual void updateController ()=0
 
virtual const base::VectorXd & computeActivation (ActivationFunction &activation_function)=0
 
virtual const base::VectorXd & computeActivation (wbc::ActivationFunction &activation_function)=0
 
- - + + @@ -210,8 +210,8 @@

-

◆ computeActivation()

+ +

◆ computeActivation()

@@ -222,7 +222,7 @@

virtual const base::VectorXd & ctrl_lib::ControllerTask::computeActivation

- +

Protected Attributes

std::vector< std::string > field_names
 
ActivationFunction activation_function
 
wbc::ActivationFunction activation_function
 
base::VectorXd tmp
 
base::Time stamp
(ActivationFunction & activation_function)wbc::ActivationFunction & activation_function)
@@ -423,8 +423,8 @@

Member Data Documentation

- -

◆ activation_function

+ +

◆ activation_function

@@ -433,7 +433,7 @@

- +
ActivationFunction ctrl_lib::ControllerTask::activation_functionwbc::ActivationFunction ctrl_lib::ControllerTask::activation_function
diff --git a/classctrl__lib_1_1JointLimitAvoidance-members.html b/classctrl__lib_1_1JointLimitAvoidance-members.html index dbefdfe..4657b5b 100644 --- a/classctrl__lib_1_1JointLimitAvoidance-members.html +++ b/classctrl__lib_1_1JointLimitAvoidance-members.html @@ -58,7 +58,7 @@

This is the complete list of members for ctrl_lib::JointLimitAvoidance, including all inherited members.

- + diff --git a/classctrl__lib_1_1JointLimitAvoidance.html b/classctrl__lib_1_1JointLimitAvoidance.html index c2a2ae6..dd37680 100644 --- a/classctrl__lib_1_1JointLimitAvoidance.html +++ b/classctrl__lib_1_1JointLimitAvoidance.html @@ -98,8 +98,8 @@ - - + +
cleanupHook()ctrl_lib::JointLimitAvoidance
computeActivation(ActivationFunction &activation_function)ctrl_lib::JointLimitAvoidanceprotectedvirtual
computeActivation(wbc::ActivationFunction &activation_function)ctrl_lib::JointLimitAvoidanceprotectedvirtual
configureHook()ctrl_lib::JointLimitAvoidance
control_outputctrl_lib::JointLimitAvoidanceprotected
controllerctrl_lib::JointLimitAvoidanceprotected
 
virtual void updateController ()
 
virtual const base::VectorXd & computeActivation (ActivationFunction &activation_function)
 
virtual const base::VectorXd & computeActivation (wbc::ActivationFunction &activation_function)
 
@@ -205,8 +205,8 @@

-

◆ computeActivation()

+ +

◆ computeActivation()

@@ -217,7 +217,7 @@

const base::VectorXd & JointLimitAvoidance::computeActivation

- +

Protected Attributes

(ActivationFunction & activation_function)wbc::ActivationFunction & activation_function)
diff --git a/classctrl__lib_1_1JointPositionController-members.html b/classctrl__lib_1_1JointPositionController-members.html index 37ab525..ce95243 100644 --- a/classctrl__lib_1_1JointPositionController-members.html +++ b/classctrl__lib_1_1JointPositionController-members.html @@ -58,7 +58,7 @@

This is the complete list of members for ctrl_lib::JointPositionController, including all inherited members.

- + diff --git a/classctrl__lib_1_1JointPositionController.html b/classctrl__lib_1_1JointPositionController.html index f05186f..b81010d 100644 --- a/classctrl__lib_1_1JointPositionController.html +++ b/classctrl__lib_1_1JointPositionController.html @@ -98,8 +98,8 @@ - - + +
cleanupHook()ctrl_lib::JointPositionController
computeActivation(ActivationFunction &activation_function)ctrl_lib::JointPositionControllerprotectedvirtual
computeActivation(wbc::ActivationFunction &activation_function)ctrl_lib::JointPositionControllerprotectedvirtual
configureHook()ctrl_lib::JointPositionController
control_outputctrl_lib::JointPositionControllerprotected
controllerctrl_lib::JointPositionControllerprotected
 
virtual void updateController ()
 
virtual const base::VectorXd & computeActivation (ActivationFunction &activation_function)
 
virtual const base::VectorXd & computeActivation (wbc::ActivationFunction &activation_function)
 
@@ -201,8 +201,8 @@

-

◆ computeActivation()

+ +

◆ computeActivation()

@@ -213,7 +213,7 @@

const base::VectorXd & JointPositionController::computeActivation

- +

Protected Attributes

(ActivationFunction & activation_function)wbc::ActivationFunction & activation_function)
diff --git a/classctrl__lib_1_1JointTorqueController-members.html b/classctrl__lib_1_1JointTorqueController-members.html index 26463d1..ce9738a 100644 --- a/classctrl__lib_1_1JointTorqueController-members.html +++ b/classctrl__lib_1_1JointTorqueController-members.html @@ -58,7 +58,7 @@

This is the complete list of members for ctrl_lib::JointTorqueController, including all inherited members.

- + diff --git a/classctrl__lib_1_1JointTorqueController.html b/classctrl__lib_1_1JointTorqueController.html index 6cdbbea..7293ae1 100644 --- a/classctrl__lib_1_1JointTorqueController.html +++ b/classctrl__lib_1_1JointTorqueController.html @@ -98,8 +98,8 @@ - - + +
cleanupHook()ctrl_lib::JointTorqueController
computeActivation(ActivationFunction &activation_function)ctrl_lib::JointTorqueControllerprotectedvirtual
computeActivation(wbc::ActivationFunction &activation_function)ctrl_lib::JointTorqueControllerprotectedvirtual
configureHook()ctrl_lib::JointTorqueController
control_outputctrl_lib::JointTorqueControllerprotected
controllerctrl_lib::JointTorqueControllerprotected
 
virtual void updateController ()
 
virtual const base::VectorXd & computeActivation (ActivationFunction &activation_function)
 
virtual const base::VectorXd & computeActivation (wbc::ActivationFunction &activation_function)
 
@@ -201,8 +201,8 @@

-

◆ computeActivation()

+ +

◆ computeActivation()

@@ -213,7 +213,7 @@

const base::VectorXd & JointTorqueController::computeActivation

- +

Protected Attributes

(ActivationFunction & activation_function)wbc::ActivationFunction & activation_function)
diff --git a/functions.html b/functions.html index 72dedb3..861a454 100644 --- a/functions.html +++ b/functions.html @@ -50,7 +50,7 @@
Here is a list of all class members with links to the classes they belong to:

- a -

@@ -62,7 +62,7 @@

- c -